AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
6.33.8 VL.CMDU
General Information
Type R/W Parameter
Description
Sets the user velocity command; active in opmodes 1 (velocity) and 2 (posi-
tion) only.
Units
Depends on UNIT.VROTARY or UNIT.VLINEAR UNIT.ACCLINEAR
Rotary: rpm, rps, deg/s, custom units/s, rad/s
Linear: counts/s, mm/s, µm/s, custom units/s
Range
Rotary
-15,000.000 to 15,000.000 rpm
-250.000 to 250.000 rps
-90000.000 to 90000.000 deg/s
-1250.000 to 1250.000 custom units/s
-1570.796 to 1570.796 rad/s
Linear
-1,073,741,824,000.000 to 1,073,741,824,000.000 counts/s
-8,000.000 to 8,000.000 mm/s
-8,000,000.000 to 8,000,000.000 µm/s
-1,250.000 to 1,250.000 custom units/s
Default
Value
0
Data Type Float
See Also
VL.FB , VL.CMD , DRV.OPMODE , DRV.CMDSOURCE , VL.LIMITN , VL.LI-
MITP
Start Ver-
sion
M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CAN-
open
60FFh/0 M_01-00-00-000
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 852 Yes low 32 bit word Yes M_01-03-00-000
Description
VL.CMDU sets the user velocity command.
When DRV.OPMODE is set to 1 (velocity loop) and DRV.CMDSOURCE is set to 0 (TCP/IP
channel), then setting this value when the drive is enabled will cause the drive to rotate at the
required velocity.
Kollmorgen™ | March 30, 2012 460
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